arXiv:2510.03348v5 Announce Type: replace Abstract: The most accurate monocular visual odometry systems require known camera intrinsics, refine their estimates with test-time optimization, and recove...
The paper introduces EgoGenEval, a new benchmark that assesses the physical consistency of visual generators under ego‑motion by measuring Camera Motion Grounding and Scene State Preservation across 1,400 cases and 2,360 target views. Experiments on 16 pose‑free generators and two pose‑conditioned references show that current models struggle to maintain both camera motion and scene state simultaneously. A follow‑up study using EgoGen‑Train demonstrates that pairwise supervision does not effectively improve both metrics together, suggesting the need for a trajectory‑centric training paradigm.
The paper introduces EgoGenEval, a benchmark that assesses visual generators’ physical consistency during ego‑motion by measuring Camera Motion Grounding and Scene State Preservation across 1,400 cases and 2,360 target views. It shows that current pose‑free models struggle to maintain both camera motion and scene state, and that pairwise supervision in training does not simultaneously improve these aspects. The authors suggest a trajectory‑centric approach that couples self‑conditioned rollouts with explicit pose and visibility supervision to address these limitations.
arXiv:2608.29733v1 Announce Type: new Abstract: Visual aliasing, also known as the doppelganger problem, remains a key challenge for structure-from-motion (SfM): visually similar but physically disti...
arXiv:2604.28130v4 Announce Type: replace Abstract: Recent methods for arbitrary-skeleton motion capture from monocular video follow a factorized pipeline, where a Video-to-Pose network predicts join...
Feed-forward 3D foundation models such as VGGT predict cameras, depth, and point maps in a single pass, but can fail silently under low overlap, low parallax, and extreme relative rotation. Stratified...
arXiv:2609.18465v1 Announce Type: new Abstract: Feed-forward 3D foundation models such as VGGT predict cameras, depth, and point maps in a single pass, but can fail silently under low overlap, low pa...
The paper introduces Self-Geometry, a plug‑and‑play test‑time adaptation framework that enforces explicit multi‑view geometric constraints on Vision Foundation Models (VFMs) using 2D pixel correspondences as pseudo ground truth. It combines Geometric Disentanglement Optimization—mixing Multi‑View and Epipolar Consistency losses with Gradient Disentanglement—to avoid gradient conflicts, a Frame Angular‑Neighbor sampler based on SO(3) geodesic distances to select informative views, and a Lightweight TTA module that adapts VFMs via LoRA. Experiments on six VFMs and four benchmarks (7Scenes, ETH3D, ScanNet++, HiRoom) show consistent improvements in pose and geometry estimation.
arXiv:2606. 29783v1 Announce Type: cross Abstract: Vision-based aerial tracking is critical in GPS-denied environments.
arXiv:2512. 16919v2 Announce Type: replace-cross Abstract: Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving.
Anchor3R is a streaming 3D reconstruction framework that predicts window-relative poses and local geometry in the current‑frame coordinate system, forming a dense relative‑pose graph for online pose updates and loop‑aware motion averaging. It improves long‑horizon pose accuracy and dense reconstruction quality on indoor, outdoor, driving, and RGB‑D benchmarks, and generalizes from 48‑frame training sequences to streams exceeding 10,000 frames while keeping GPU memory bounded. The method addresses issues of train‑test mismatch, early‑anchor bias, and accumulated drift found in previous streaming models.
GS‑Net is a lightweight plug‑and‑play module that expands sparse Structure‑from‑Motion point clouds into dense Gaussian primitives, enabling cross‑sensor view synthesis for autonomous driving. It learns a generalizable initialization for 3D Gaussian Splatting, improving rendering quality for both interpolated and extrapolated camera viewpoints. The authors introduce CARLA‑NVS, a benchmark with 12 uniformly spaced cameras, and show that GS‑Net outperforms standard 3DGS by 2.08 dB PSNR on interpolated views and 1.86 dB on extrapolated views while being 50× faster to initialize.